import numpy as np


class Task:
    def __init__(self, name: str) -> None:
        super().__init__()

        self.taskName = name
        self.id = 0
        self.parent_id = 0
        self.child_id = 0
        self.dxDes = np.zeros(0)
        self.ddxDes = np.zeros(0)
        self.delta_q = np.zeros(0)
        self.dq = np.zeros(0)
        self.ddq = np.zeros(0)
        self.J = np.zeros(0)
        self.dJ = np.zeros(0)
        self.Jpre = np.zeros(0)
        self.N = np.zeros(0)
        self.kp = np.zeros(0)
        self.kd = np.zeros(0)
        self.W = np.zeros(0)
        self.errX = np.zeros(0)
        self.derrX = np.zeros(0)
